Toward intelligent system health monitoring for NASA robonaut Conference Paper

abstract

• This paper presents an intelligent system health monitoring technique for a humanoid robot, Robonaut, which was developed at JSC to be used in space. Robonuut's lower level controller publishes sensor information through NDDS, network middleware, and Self Agent analyzes the data to monitor the status of the robot. A hierarchical system health monitoring {SHM) technique is developed. As a base level of the SHM, a nonlinear model-based observer and a fuzy logic framework are developed to detect faults and identify the fault source in the robot.

name of conference

• 4th IEEE/RAS International Conference on Humanoid Robots, 2004.

authors

• Ambrose, Robert

published proceedings

• 4th IEEE/RAS International Conference on Humanoid Robots, 2004.

author list (cited authors)

• Juki Park, .., S. C. Ferguson, .., N. Sarkar, .., K. Kawamura, .., B. Bluethmann, .., R. Ambrose, .., & K. Alder.

publication date

• January 2004

keywords

• Fault Detection
• Fault Detection And Identification
• Fault Diagnosis
• Fuzzy Logic
• Intelligent Robots
• Intelligent Sensors
• Intelligent Systems
• Model Based Fault Detector
• Monitoring
• Nasa
• Robonaut
• Robot Sensing Systems
• Robotics And Automation
• Self Agent
• System Health Monitoring
• Usa Councils

start page

• 855

end page

• 868

volume

• 2